Optical element switching system using a halbach array

ABSTRACT

Various embodiments provide a system for moving optical elements. The system includes a first rotor and a second rotor configured to rotate in opposite directions. The system further includes a first plurality of paddles coupled to the first rotor, each of the plurality of paddles having an aperture configured to receive a first optical element, and a second plurality of paddles coupled to the second rotor, each of the plurality of paddles having an aperture configured to receive a second optical element. The first rotor and the second rotor are configured to move the first optical element between a retracted position and a desired position and to move the second optical element between the desired position and a retracted position substantially simultaneously such that a reaction torque of the first rotor cancels a reaction torque of the second rotor.

STATEMENT AS TO RIGHTS TO INVENTIONS MADE UNDER FEDERALLY SPONSOREDRESEARCH AND DEVELOPMENT

This invention was made with government support. The government hascertain rights in the invention.

BACKGROUND

This disclosure pertains to mechanisms and systems for moving opticalelements in general and in particular to a system using a Halbach arrayfor moving an optical element.

Systems and mechanisms for moving optical elements in and out oflocations such as switching between optical filters or optical elements(e.g., lenses, mirrors, prisms, etc.) in and out of an optical path arein increasing demand for various applications including optical imaging,optical surveillance, etc. The simplest moving or switching systems ormechanisms utilized for moving optical elements or for switching betweenoptical elements do not contain any provision for reducing the reactionforces and moments. For systems that are not sensitive to vibrations orsystems that do not require the switch to occur in a very short periodof time, this simple approach may be adequate. However, as systemsincrease in performance they can become more susceptible to vibrationand may require a more sophisticated approach.

In some conventional systems, a reaction mass is added to the switchingmechanism. Instead of applying a torque between the moving element andthe base, a torque is applied between the moving element and thereaction mass. The reaction mass moves in an opposite direction from themoving element and, theoretically, no torque is applied to the base.This approach has various disadvantages, the most severe of which isthat the mass is usually approximately equal in size and weight to theprimary moving element. The added size, weight and complexity of thereaction mass make packaging difficult and add significant weight to thesystem. The power consumption of this type of mechanism can also behigher than an equivalent mechanism without a reaction mass. Thisapproach has been used extensively on gimbals and beam steering mirrors.

In systems where there are at least two elements and one of them isalways deployed and the other elements are retracted, the torque appliedto the element that moves from deployed to retracted can be used tocancel torque of the element that moves from retracted to deployed. Thisapproach is essentially the same as the reaction mass approach describedabove except that another mechanism which is mounted to a common base isused as the reaction mass. Instead of a torque applied directly betweenthe primary moving element and the reaction mass (requiring oneactuator), each of the two moving elements applies a torque to a commonplate (requiring two actuators). Because the two mechanisms are rotatingin opposite directions, it is possible to cancel the reaction torquesresulting in a reaction-less system.

In the systems described above, an actuator is usually the sole sourceof the torque that moves the masses from one position to another. Theactuator typically is the dominant source of heat dissipated in themechanism. In many systems it is highly desirable to minimize the powerconsumed by the mechanism. In order to reduce the torque supplied by theactuator, and thus the power dissipated by the mechanism, attempts havebeen made to add passive energy storage elements to the mechanism thatwill result in a natural tendency to oscillate.

One such mechanism is a non-contacting magnetic latch (NCML). The NCMLmechanism primarily makes use of a torsion rod between the movingelement and the base to store most of the energy required to perform theswitch. The torque profile of the spring is chosen so that the naturaloscillation of the spring-mass system naturally carries the movingelement between the retracted and deployed states in the desired switchtime while requiring minimal actuator torque. In order to hold themechanism in either the deployed or retracted position, a NCML is used.The latch is designed with coils that provide a means for releasing therotor by energizing a coil which produces a magnetic field that opposesthe magnetic field of the latch's permanent magnet. The latch torque isthus lowered to below the amount required to counteract the spring andthe moving element is allowed to swing to the other operating positionwhere it is caught by a similar active latch. The reaction torque of themechanism is reduced by always operating two mechanisms in oppositedirections.

Another such mechanism, referred to as the “Flexure mechanism,” suspendsthe rotor on a cross-blade flexure which also serves as the energystorage element. A passive, non-contacting magnetic latch is provided tocancel the torque of the flexure at the two operating positions in orderto create detents at the operating positions. The torque provided by thelatch plus the flexure (collectively referred to as the “passivetorque”) provides a source of stored energy which allows the rotor toswitch between the two operating positions with minimal additionaltorque. The flexure and magnetic latch torque vs. deflection angleprofiles are designed to provide a passive torque profile that isoptimized to minimize the amount of power required to move the mechanismbetween its two operating positions. A servo which includes a brushlessDC motor and angle sensor is used to control the motion of the rotor.Similar to the NCML mechanism, the reaction torque of this mechanism isalso reduced by always operating two mechanisms in opposite directions.

What is needed is an optical switching system for moving opticalelements that is configured to, inter alia, cancel reaction torquesgenerated during movement of the optical elements by counter rotatingthe optical elements.

SUMMARY

One or more embodiments of the present disclosure provide a system formoving optical elements. The system includes a first rotor and a secondrotor configured to rotate in opposite directions. The system furtherincludes a first plurality of paddles coupled to the first rotor, eachof the plurality of paddles having an aperture configured to receive afirst optical element, and a second plurality of paddles coupled to thesecond rotor, each of the plurality of paddles having an apertureconfigured to receive a second optical element. The first rotor and thesecond rotor are configured to move the first optical element between aretracted position and a desired position and to move the second opticalelement between the desired position and a retracted positionsubstantially simultaneously such that a reaction torque of the firstrotor cancels a reaction torque of the second rotor.

Another embodiment of the present disclosure provides a system formoving optical elements including a rotor and a first pulley coupled tothe rotor and a second pulley coupled to the first pulley via atransmission belt. The system further includes a first plurality ofpaddles coupled to the first pulley, each of the plurality of paddleshaving an aperture configured to receive a first optical element, and asecond plurality of paddles coupled to the second pulley, each of theplurality of paddles having an aperture configured to receive a secondoptical element. The rotor and the transmission belts are configured tomove the first optical element between a retracted position and adesired position and to move the second optical element between thedesired position and a retracted position substantially simultaneouslysuch that a reaction torque of the first pulley cancels a reactiontorque of the second pulley.

These and other features and characteristics of the present disclosure,as well as the methods of operation and functions of the relatedelements of structure and the combination of parts and economies ofmanufacture, will become more apparent upon consideration of thefollowing description and the appended claims with reference to theaccompanying drawings, all of which form a part of this specification,wherein like reference numerals designate corresponding parts in thevarious figures. In one embodiment of this disclosure, the structuralcomponents illustrated herein are drawn to scale. It is to be expresslyunderstood, however, that the drawings are for the purpose ofillustration and description only and are not intended as a definitionof the limits of the inventive concept. As used in the specification andin the claims, the singular form of “a”, “an”, and “the” include pluralreferents unless the context clearly dictates otherwise.

BRIEF DESCRIPTION OF THE DRAWINGS

In the accompanying drawings:

FIG. 1 depicts a system for moving optical elements in and out of alocation (e.g., a beam path), according to one embodiment;

FIG. 2 is a three dimensional perspective view of a rotor for rotatingthe optical elements, according to one embodiment;

FIG. 3 is a cross-sectional view of the rotor shown in FIG. 2;

FIG. 4 is a cross-sectional view of a Halbach array, according to oneembodiment;

FIG. 5A is a cross-section view of Halbach array in a stableconfiguration, according to one embodiment;

FIG. 5B is a cross-section view of Halbach array in a unstableconfiguration, according to one embodiment;

FIG. 6 is plot of a torque moment profile generated by Halbach arrayshown in FIGS. 4, 5 a and 5B as function of angle of rotation, accordingto one embodiment;

FIG. 7 is a block diagram of a control loop provided within a controllerfor controlling a system for moving optical elements, according toembodiment;

FIG. 8 is a plot of the angle command as a function of time using incontrol loop shown in FIG. 7, according to one embodiment;

FIG. 9 is a plot of a feed forward torque command as function of timeused in control loop shown in FIG. 7, according to one embodiment;

FIG. 10 is plot of an angle of rotation profile of a rotor as a functionof time for one revolution, according to one embodiment;

FIG. 11A is an elevation view of a system for moving optical elements,according to another embodiment;

FIG. 11B is a three-dimensional perspective view of system shown in FIG.11A;

FIG. 12 shows a three-dimensional perspective of belts in an “8”configuration around pulleys used for rotating the optical elements,according to one embodiment; and

FIG. 13 is a cross-sectional view of system shown in FIG. 12 showing aHalbach array located outside of a rotor; according to one embodiment.

DETAILED DESCRIPTION

FIG. 1 depicts a system for moving optical elements in and out of alocation (e.g., a beam path), according to one embodiment. The opticalelements include, but are not limited to, optical filters (e.g.,polarization filters, spectral filters, uniform temperature blacksurfaces), lenses, mirrors, gratings, opaque ray-blocking elements, etc.System 10 includes two mechanisms 12 and 14 that are each capable ofmoving an optical element (e.g., a lens, a polarization filter, aspectral filter, a ray-blocking element, a uniform temperature blacksurface, a mirror, a grating, a prism, etc.) 16 into multiple deployedpositions or refracted positions (referred collectively as “operatingpositions”) in and out of desired location 18. For example, location 18can be a location along a path of a radiation beam. As shown in FIG. 1,in one embodiment, optical element 16 is mounted on blade or paddle 17for holding optical element 16. As shown in FIG. 1, each of mechanisms12 and 14 has a plurality of paddles 17. Mechanism 12 has paddles 17Aand mechanism 14 has paddles 17B. Although, three paddles are shown, asit can be appreciated one, two or more paddles 17 can be provided inmechanism 12 or mechanism 14 or both. Similarly, although, one opticalelement 16 is shown mounted on each paddle 17, two or more opticalelements 16 can be arranged (e.g., superposed so as to intersect a beamof radiation) and mounted on one or more of paddles 17 of eithermechanism 12, mechanism 14, or both. Furthermore, the optical elements16 mounted on each of the paddles 17 may be the same or different. Forexample, in one embodiment, the paddles 17 can be provided withdifferent wavelength bandpass spectral filters. For example, in anotherembodiment, the paddles 17 can be provided with lenses having differentfocal distances, etc. In yet another embodiment, one paddle may beprovided with a spectral filter while another paddle may be providedwith a mirror or a lens, etc. The mechanisms 12 and 14 are mounted ontoa mounting structure (e.g., a metal plate) 20. The mounting structure 20is in turn mounted to a base structure (not shown) via vibrationisolating struts 21. Vibration isolating struts 21 isolate the basestructure and hence other optical systems from vibrations that may begenerated by mechanisms 12 and 14 during operation.

Each of mechanisms 12 and 14 includes a rotor for rotating the paddles17. FIG. 2 is a three dimensional perspective view of mechanism 12 or 14with rotor 15, according to one embodiment. Rotors 15 in mechanisms 12and 14 are configured to rotate corresponding paddles 17A and 17B inopposite direction. For example, while paddles 17A in mechanism 12 areshown in FIG. 1 rotating clockwise, paddles 17B in mechanism 14 areshown rotating counter-clockwise (as illustrated by the semi-circlearrows). FIG. 2 further shows the paddles 17 (in this case 3 paddles)being provided with apertures 16A configured to receive optical elements16. Although apertures 16A are shown in FIG. 2 having a circular shape,apertures 16A can have any other shape (e.g., square or other polygonalshape, or more complex shape). In operation, for example, mechanism 12can be arranged in the deployed position while mechanism 14 can bearranged in a retracted position. When optical element 16 held by paddle17 of mechanism 12 is within desired location 18, other optical elements16 held by other paddles 17 of mechanism 14 are out of location 18.Similarly, when optical element 16 held by paddle 17 of mechanism 14 iswithin location 18, other optical elements 16 held by other paddles 17of mechanism 12 are out of location 18.

System 10 is capable of switching optical element 16 of mechanism 12deployed into desired location 18 to a retracted position whilesimultaneously switching one of the adjacent retracted optical elements16 of the mechanism 14 into deployed desired location 18. A reactiontorque of the deploying rotor (e.g., rotor of mechanism 14) cancels areaction torque of the retracting rotor (e.g., rotor of mechanism 12).

FIG. 3 is a cross-sectional view of rotor 15, according to oneembodiment. Rotor 15 includes cylinder extension 29. Paddles 17 aresecured to cylinder extension 29 with fasteners. Cylinder extension 29essentially functions as a spacer for positioning paddles 17 ofdifferent mechanisms 12 and 14 at different heights. Cylinder extension29 may also function as a thermal isolator for isolating paddle 17 andthus optical elements 16 from heat that may be generated by rotor 15during operation. Cylinder extension 29 is optional.

Rotor 15 further includes direct current (DC) motor (e.g., a brushlessDC motor) 32. Motor 32 has rotor portion 32A and stator portion 32B.Rotor portion 32A is connected to axle 31. Axle 31 is mounted tobearings 33A and 33B located respectively at an upper portion of rotor15 and lower portion of rotor 15. Axle 31 is rigidly coupled to supportplate 34 on which cylinder extension 29 is mounted. In operation, arotation of rotor portion 32A is transferred into a rotation of axle 31which in turn is transferred into a rotation of paddle 17.

Rotor 15 further includes induction angle sensor 36 for detecting anangular position of axle 31 during rotation. Angle sensor 36 isconnected to a controller 38 which uses feedforward and angle feedbackcommands to command rotor 15 to rotate and to command two rotors 15 ofmechanisms 12 and 14 to move in opposite directions with substantiallythe same motion profile, i.e., in synchronism.

Rotor 15 further includes a halbach array 40 mounted at a middle portionof rotor 15. Halbach array 40 is used to reduce an amount of torque andpower required to move the optical elements 16 in and out of location18. The use of Halbach array 40 allows reduction of the torque and powerconsumption required to switch between optical elements. A detaileddescription of a Halbach array can be found in U.S. Pat. No. 7,265,470entitled “Magnetic Spring and Actuators with Multiple EquilibriumPositions,” the entire contents of which are incorporated herein byreference.

Halbach array 40 includes a plurality of magnets or magnetic dipoles 42.FIG. 4 show a cross-sectional view of Halbach array 40 according to oneembodiment. Halbach array 40 includes a movable or rotatable portion 40Aand static portion 40B. Rotatable portion 40A and 40B are arranged asconcentric cylinders. In Halbach array static portion 40B, the directionof magnetization of each magnet 42 in the array of magnets is rotatedclockwise as the array is traversed in a clockwise direction. In Halbachrotatable portion 40A, the direction of magnetization of each magnet 42in the array of magnets is rotated counter-clockwise as the array istraversed in a clockwise direction.

Array portions 40A and 40B shown in FIG. 4 use 90 degrees of magneticfield rotation from one magnet to the next, or four magnets perwavelength (360 degrees). However, it should be understood that more orless degrees of rotation may be used in order to produce shorter orlonger wavelengths. As shown, in FIG. 4, magnetic fields in the arrayportion 40A and array portion 40B are oriented in such a way that thereis a repulsion between the magnetic dipoles or magnets 42. Therefore,the configuration shown in FIG. 4 is an unstable configuration. As aresult, a slight excitation or rotation of array portion 40A, forexample, will tend to move the magnets in array portion 40A to aposition where the magnets in array portion 40A and magnets in arrayportion 40B attract each other to a stable configuration.

FIG. 5A is a cross-sectional view of Halbach array 40 showing arrayportions 40A and 40B in a stable configuration, according to oneembodiment. FIG. 5B is a cross-sectional view of Halbach array 40depicting array portions 40A and 40B is an unstable configuration,according to one embodiment. In the unstable configuration, as shown inFIG. 5B, a pair of magnets 44A and 44B are oriented opposite to eachother such that N pole of magnet 44A faces N pole of the opposite magnet44B. Similarly, a pair of magnets 46A and 46B are oriented opposite toeach other such that S pole of magnet 44A faces S pole of the oppositemagnet 44B. In addition, a pair of magnets 48A and 48B are oriented inparallel such that the N pole of magnet 48A faces the N pole of theother magnet 48B and the S pole of the magnet 48A faces the S pole ofmagnet 48B. Because there is repulsion between like poles of twomagnets, this configuration is unstable.

In the stable configuration, as shown in FIG. 5A, a pair of magnets 44Aand 46B are oriented in a same direction such that the N pole of magnet44A faces the S pole of the opposite magnet 46B. Similarly, a pair ofmagnets 49A and 44B are oriented in the same direction such that the Npole of magnet 44B faces the S pole of the opposite magnet 49A. Inaddition, a pair of magnets 47A and 48B are oriented in parallel suchthat the N pole of magnet 48B faces the S pole of the other magnet 47Aand the S pole of magnet 48B faces the N pole of magnet 47A. Becausethere is attraction between opposite poles of two magnets, thisconfiguration is stable.

As illustrated in FIGS. 5A and 5B, while magnets 44B, 46B and 48B havenot moved as array portion 40B is static, magnet 44A of array portion40A has moved from its position where it faces magnet 44B (as shown inFIG. 5B) to a position where it faces magnet 46B (as shown in FIG. 5A).Only a slight excitation is needed in order to move magnet 44A and thusall the array in portion 40A from the configuration shown in FIG. 5B tothe configuration shown in FIG. 5A. As a result, this has the effect offocusing the field produced by each array toward the opposing array toproduce higher torque per unit of mass of magnet material. Although arepetitive series of 4 magnets are used in each array portion 40A and40B, as it can be appreciated, more than 4 magnets can be used.

FIG. 6 is plot of a torque moment profile generated by Halbach array 40as function of the angle of rotation as array portion 40A rotates withrespect to static array portion 40B, according to one embodiment. Asshown in FIG. 6, the torque moment Mz (in N-m) has an oscillatorybehavior as a function of angle of rotation (degrees). The peaks shownin FIG. 6 correspond to the unstable configuration (FIG. 5B), whereasthe valleys or troughs correspond to the stable configuration (FIG. 5A).Stable troughs and unstable peaks are approximately 60 degrees apart.Hence, the angle between a stable configuration and an unstableconfiguration is approximately 30 degrees.

FIG. 7 is a block diagram of the control loop 50 provided withincontroller 38 (shown in FIG. 3) for control of rotary switching system10 (i.e., control rotors 15). When a change in angle is desired, inputsare provided to system 10 in an acceleration or torque feed forwardtrajectory 52 and angle command trajectory 54. An example of anglecommand trajectory 52 is shown in FIG. 8. FIG. 8 shows a plot of theangle command as a function of time which corresponds to the anglecommand trajectory. An example of acceleration or torque feed forwardtrajectory 52 is shown in FIG. 9. FIG. 9 shows a plot of the feedforward torque command as function of time which corresponds to thetorque feed forward trajectory. Acceleration or torque feed forwardtrajectory 54 is an expected signal to be sent to the motor as afunction of time. Both acceleration feed forward trajectory 52 and anglecommand trajectory 54 may be customized in electronics for rotaryswitching system 10 to take into account differences in individualrotary switching mechanisms 12 and 14.

The acceleration feed forward trajectory 52 is forwarded to driveamplifier 56 with a gain K_(i). The signal output by drive amplifier 56is modified by motor gain 58 and inertial term 60, to send an outputsignal to drive motor 30 (shown in FIG. 3). An angle of paddle 17 (shownin FIGS. 1, 2 and 3) is detected by angle sensor 36 (FIG. 3). The signalfrom the current sensors 36 is included in the electronics controllersystem 38 as part of feedback loop 50 as Kaman sensor 62 (made by KamanIndustrial Technologies Corp.). This signal output by Kaman sensor 62indicates the actual position of the angle and is combined with anglecommand trajectory 54 and input into servo compensation block (g(s)) 64.The signal input into compensation block 64 is the difference betweenthe expected angle and the actual angle as detected by current sensors36 through Kaman sensor 62. The information from current sensors 36 isalso used as an input for determining commutation signals 66, which areforwarded to drive amplifier 56. The commutation signals are input intodrive amplifier 56 to change the amount of current provided to motor 30to compensate for the relative angle between rotor 32A and stator 32B ofmotor 30.

The information from current sensor 36 or Kaman sensor 62 is also usedas an input to a passive torque cancellation lookup table 68. Passivetorque cancellation lookup table 68 provides a desired motor torqueversus angle profile for motor 30 (and hence for rotor 15). Passivetorque cancellation lookup table 68 is populated based on measuredpassive torque profile. The table matches all mechanisms (all of theindividual rotary switching mechanisms 12, 14) to a common torqueprofile. By using passive torque cancellation lookup table 68, thetorques of each of rotary switching mechanisms 12 and 14 may beequalized, so that an extending torque in one of the mechanisms (e.g.,rotor mechanism 12) is substantially equal at all times to a retractingtorque in any other of the mechanisms (e.g., rotor mechanism 14).

Control loop 50 within controller 38 may be modified by omitting passivetorque cancellation lookup table 68. Such a modified system would relyon acceleration feed forward trajectory 52 and angle command trajectory54 to perform functions that would be performed by passive torquecancellation lookup table 68.

Control loop 50 within controller 38 may be embodied in an electronicsbox or an integrated circuit, using any of a variety of well-knownstructures. A microprocessor may be used to execute commands that areembodied in any of a wide variety of well known devices. For example,torque lookup table 68 may be embodied in any of various memory devices,for example, random access memory (RAM) or read only memory (ROM). Aclock may be used as part of control loop 50 within controller 38 tocontrol timing of executing various functions.

Each of rotary switching mechanisms 12, 14 may have its own electronicsmodule, with an integrated circuit or other circuit board device orother electronics located in its own control electronics box 38.Alternatively the electronics for all of rotary switching mechanisms 12and 14 of switching system 10 (shown in FIG. 1) may be provided as asingle module. Switching system 10 may be coupled to suitable powersources in suitable control devices for sending control signals toextend and retract individual paddles 17 (shown in FIGS. 1, 2 and 3).

Precise control of deployment and retraction that can be provided by thepresent control system 38 can have various benefits including reducingor minimizing disturbances in system 10. As a result, large and abruptaccelerations during the latching process that occur in some prior artsystems can be avoided. These large and abrupt accelerations can exciteresonances in this type of switching system resulting in largedisturbances that can cause poor performance and/or damage tocomponents. By controlling the latching process, disturbances in system10 (shown in FIG. 1) may be reduced or minimized.

Angle command trajectory 54 may be varied to change the time requiredfor extension or retraction of paddle 17 and thus for the extension andretraction of optical element 16. In one embodiment, angle commandtrajectory 54 may be set so that the extension or retraction occurs in20 ms. However, it will be appreciated that there is a large range ofvariations in operating times for switching mechanisms.

The use of Halbach array 40 allows reduction of the torque that isneeded from the motor 30 to rotate paddles 17 carrying optical elements16. As a result, the power consumption by motor 30 is reduced. A lowpower consumption both for switching operations or when no switching isoccurring may be desirable as this reduces heat dissipation, thereduction of which can be beneficial. For example, reduction of heat canbe beneficial in optical systems used in cryogenic environments.

By monitoring angle sensor 36 via Kaman sensor 62 in loop system 50,controller 38 can determine when to activate motor 30 so as to providethe torque pulses required to achieve a desired motion. The result is arotary actuator that will maintain specific angular positionscorresponding to the shallow equilibrium configuration or “operatingdetents”, with substantially no torque required from motor 30, and thussubstantially no power consumption while in such shallow equilibrium.When desired, a relatively small excitation torque input from motor 30will cause rotor 15, due to the use of Halbach array 40, to “snap” orrapidly rotate to the next detent at relatively high speed, where it isfollowed by another small torque input from the motor, etc. In spite ofits high speed, the movement between shallow equilibrium points in FIG.6 requires essentially no power input other than the small excitationtorque pulses necessary to destabilize and subsequently recapture therotating assembly and to compensate for friction or drag. Hence,typically, a torque generated by Halbach array 40 is greater than atorque generated by motor 30.

FIG. 10 is plot of the angle of rotation as a function of time for onerevolution, i.e., for a rotation of 360 deg., according to oneembodiment. In order to minimize the power consumption required, arelatively large Halbach torque amplitude produced by Halbach array 40is desired. In most designs, the maximum Halbach torque will be largerthan the maximum torque that motor 30 is capable of exerting on rotor15. In operation, when power is turned off, controller 38 will no longerhold the Halbach array in one of the unstable configuration and thus itwill naturally fall into one of the stable configurations. In order tomove rotor 15 from a stable position to an unstable position, anoscillation of rotor 15 is induced using motor 30. In each oscillation,motor 30 is able to apply torque to rotor 15 in such a way that theamplitude of the oscillation increases. Once rotor 15 reaches anunstable position, the oscillation is stopped and the servo holds rotor15 until a switch command is received. This behavior is shown in FIG.10. A similar method is used in reverse during power-down so that therotor is moved from an unstable null to a stable null in a controlledmanner.

FIG. 10 is a plot of the angle of rotation of rotor 15 as a function oftime elapsed (in seconds). As shown in this plot, motor 30 inducesoscillations 100 with increasing amplitude to bring rotor 15 to unstableposition 102. The oscillation 100 is stopped and the servo controller 38holds rotor 15 at the unstable angular position 102 until a switchcommand from the controller 38 is sent to motor 30. Once a switchcommand sent by controller 38 is received by motor 30, motor 30 excitesHalbach array 40 and the angular position of rotor 15 is switched at 104from unstable position 102 to another unstable position 106. Thisprocess can be repeated until making a full 360 deg. rotation, at whichpoint motor 30 may be powered down by decreasing amplitudes 108 to astable null position.

In the above paragraphs, embodiments are described where each of the twomechanisms 12 and 14 for rotating paddles 17A and 17B is provided withrotor 15 for rotating its associated series of paddles 17A and 17B.However, in another embodiment, one rotor can be used to rotate bothseries of paddles 17A and 17B. One rotor 15 can be used, for example, torotate paddles 17B and the rotation of rotor 15 can be transferred topaddles 17A by using a transmission belt including, for example, a pairof belts or bands, as will be described further in detail in thefollowing paragraphs.

FIG. 11A is an elevation view of a system 11 for moving optical elements16, according to another embodiment. FIG. 11B is a three-dimensionalperspective view of system 11. System 11 is similar in many aspects tosystem 10 described above. Therefore, the above description with respectto common features will not be repeated in the following paragraphs.However, as shown in FIGS. 11A and 11B, in system 11, only one rotor 15is used to rotate both series of paddles 17A and 17B. Rotor 15 isconfigured to rotate paddles 17B through cylinder extension or pulley 29(shown in FIG. 3). The rotation of cylinder extension 29 is transmittedvia transmission belts or transmission bands 110 and 111 to cylinderextension or pulley 29′ to which the paddles 17A are coupled. Hence, inthis embodiment, cylinder extension 29′ is not rotated by a second rotor15 but simply rotated by the same rotor 15 that rotates cylinderextension or pulley 29.

In one embodiment, transmission belt which includes bands or belts 110and 111 are arranged in an “8” configuration around cylinder extensionsor pulleys 29 and 29′. FIG. 12 shows a three-dimensional perspective ofbelts 110 and 111 in a “figure 8” configuration around pulleys 29 and29′, according to one embodiment. One end 112 of belt 110 is attached topulley 29. Belt 110 is looped around pulley 29 and is extended to pulley29′. An end opposite to end 112 of belt 110 (not shown) is attached topulley 29′. Similarly, one end 114 of belt 111 is attached to pulley29′. Belt 111 is looped around pulley 29′ and is extended to pulley 29.An end opposite to end 114 of belt 111 (not shown) is attached to pulley29. In one embodiment, belts 110 and 11 are made of metal (e.g., steel).However, other types of materials can be used. In this embodiment, belts110 and 111 are shown having smooth surfaces. However, in otherembodiments, it is contemplated that belts 110 and 111 be provided withrugged surfaces (e.g., surfaces having teeth or the like). In oneembodiment, the transmission belt which include belts 110 and 111further includes a belt tensioning device that allow for adjusting belttension, for example, such that a first band mode is above 1000 Hz (or10 times the servo bandwidth). In one embodiment, pulleys 29 and 29′ areprovided with a relatively large diameter so as to keep a length ofbelts 110 and 111 short. By using relatively short belts 110 and 111,belts 110 and 111 can be used at higher frequency (e.g. around 1000 Hz)regimes. In addition, by using relatively short belts 110 and 111,bending stresses on belts 110 and 111 can be reduced and minimized whichprovides higher reliability for the belts.

As shown in FIGS. 11A and 11B, a line of sight or line of beam path CCis not coplanar with the two rotation axes AA and BB of respectivelypaddles 17A and 17B. By positioning the line of sight or line of beampath CC away from the plane containing the axes AA and BB, the bands areprevented from being located within the aperture 18.

As shown in FIG. 12, for example, when rotor 15 rotates pulley 29counter-clockwise, the rotation is transmitted through belts 110 and 11to pulley 29′ which rotates clockwise due to the “8” configuration ofbelts 110 and 111. By rotating the pulleys 29 and 29′ in oppositedirection, a net angular momentum is maintained to substantially zero asthe angular momentum generated by the rotation of pulley 29 is cancelledby the opposite angular momentum generated by pulley 29′.

In system 11, one rotor 15 is used to rotate both pulleys 29 and 29′. Asdescribed in the above paragraphs, in one embodiment, rotor 15 includesHalbach array 40 to reduce the amount of torque that is needed to begenerated by motor 30 to rotate paddles 17. In another embodiment,Halbach array 40 is not provided within rotor 15. Halbach array 40 islocated outside of rotor 15. FIG. 13 is a cross-sectional view of system11 showing the Halbach array 40 located outside of rotor 15. In thisembodiment, Halbach array 40 is located near pulley 29′ provided forrotating paddles 17A. In the embodiment depicted in FIG. 13, a rotationimpulsion is provided to Halbach array 40 by motor 30 in rotor 15. Arotation of motor 30 is transmitted via axle 31 to pulley 29 whichrotate belts 110 and 111. A rotation of belts 110 and 111 causes pulley29′ to rotate which in turn causes axle 31′ to rotate and transmit therotation impulsion to Halbach array 40. Similarly, a torque generated byHalbach array 40 is transmitted to both pulleys 29 and 29′ to rotateassociated paddles 17A and 17B. A rotation of Halbach array 40 causes arotation of axle 31′ which causes pulley 29′ to rotate. A rotation ofpulley 29′ is transmitted to pulley 29 via belts 110 and 111. Although,Halbach array is described being used in system 11. In anotherembodiment, Halbach array 40 can be omitted. In which case, motor 30within rotor 15 can act as a sole actuator for rotating pulleys 29 and29′ and thus paddles 17A and 17B. In fact, the use of Halbach array 40inside or outside rotor 15 can be optional.

One difference between system 11 and system 10 is that rotor 15 insystem 11 can not be spun around for multiple rotations when singlelooped belts are used. More than one revolution can be accomplished insystem 11 if belts 110 and 111 are spiraled around pulleys 29 and 29′.However, using spiraled belts may increase a size of system 11.

Since one revolution of pulleys 29 and 29′ allows to rotate paddles 17Aand 17B a full 360 deg., each of the filters 16 can be positioned alongthe line of sight CC facing the aperture 18 in a fixed sequence. Thiscan be implemented in forward order and then in reverse order, ifdesired. As a result, limiting the rotation of pulleys 29 and 29′ to onerevolution is not constraining.

By using the “figure 8” configuration in system 11 the number of rotors15 (including motors 30) is reduced from two to one. In addition, byusing the “figure 8” configuration, a rotation of rotor 15 istransferred to pulleys 29 and 29′ at the same time and withsubstantially the same torque, but with opposite motions of pulleys 29and 29′. This allows reaction torques cancellation, thus keepingreaction disturbances within a specified value. Furthermore, thisensures that pulleys 29 and 29′ rotate with exactly opposite motionprofiles even when using an open loop controller 38.

Furthermore, in system 11 the number of components that may fails isreduced due to the use of one rotor 15 and one controller 38 instead ofusing two rotors 15 and two controllers 38. In addition, by using onecontroller 38 for rotor 15 in system 11 instead of two controllers 38for rotors 15 in system 10, the complexity of associated electronics isalso reduced which reduces the likelihood of electronic failure.Moreover, the use of single controller 38 in system 11 instead of twocontrollers 38 allows, inter alia, to reduce the weight as well as thevolume that the system occupies. In system 10 that uses two rotors 15,if a failure occurs with one of the rotors 15, each rotor 15 is providedwith a retraction mechanism to move the associated paddles 17 into adesired position. On the other hand, in system 11, because only onerotor 15 is used, a single retraction mechanism 90 (shown in FIG. 13)can enable moving the paddles 17A and 17B into desired position.Therefore, in system 11, not only the number of rotors 15 is reducedfrom two to one but also the number of retraction mechanisms that areprovided in case of failure is also reduced from two to one.

It should be appreciated that in one embodiment, the drawings herein aredrawn to scale (e.g., in correct proportion). However, it should also beappreciated that other proportions of parts may be employed in otherembodiments.

Although the inventive concept has been described in detail for thepurpose of illustration based on various embodiments, it is to beunderstood that such detail is solely for that purpose and that theinventive concept is not limited to the disclosed embodiments, but, onthe contrary, is intended to cover modifications and equivalentarrangements that are within the spirit and scope of the appendedclaims. For example, it is to be understood that the present disclosurecontemplates that, to the extent possible, one or more features of anyembodiment can be combined with one or more features of any otherembodiment.

Furthermore, since numerous modifications and changes will readily occurto those with skill in the art, it is not desired to limit the inventiveconcept to the exact construction and operation described herein.Accordingly, all suitable modifications and equivalents should beconsidered as falling within the spirit and scope of the presentdisclosure.

1. A system for moving optical elements, comprising: a first rotor and asecond rotor configured to rotate in opposite directions; a firstplurality of paddles coupled to the first rotor, each of the pluralityof paddles comprising an aperture configured to receive a first opticalelement; a second plurality of paddles coupled to the second rotor, eachof the plurality of paddles comprising an aperture configured to receivea second optical element; wherein the first rotor and the second rotorare configured to move the first optical element between a retractedposition and a desired position and to move the second optical elementbetween the desired position and a retracted position substantiallysimultaneously such that a reaction torque of the first rotor cancels areaction torque of the second rotor.
 2. The system of claim 1, whereinthe first optical element, the second optical element, or both, comprisean optical lens, a prism, a grating, a polarization filter, a spectralfilter, a ray-blocking element, a uniform temperature black surface, ora mirror.
 3. The system of claim 1, wherein the first rotor and thesecond rotor are mounted to a mounting structure for mounting onto abase structure via vibration isolators for isolating the base structurefrom vibrations originating from the first rotor or the second rotor. 4.The system of claim 1, wherein the first motor, the second motor, orboth, are DC motors.
 5. The system of claim 1, further comprising afirst cylindrical extension coupled to the first rotor and a secondcylindrical extension coupled to the second rotor, wherein the firstcylindrical extension and the second cylindrical extension areconfigured as spacers so as to position the first paddles and the secondpaddles at different heights.
 6. The system of claim 1, wherein thefirst rotor comprises a first motor and a first Halbach array coupled tothe first motor, wherein the second rotor comprises a second motor and asecond Halbach array coupled to the second motor.
 7. The system of claim1, wherein a torque generated by the first Halbach array is greater thana torque generated by the first motor and a torque generated by thesecond Halbach array is greater than a torque generated by the secondmotor.
 8. The system of claim 6, wherein the first rotor furthercomprises a first axle coupled to the first motor and the second rotorfurther comprises a second axle coupled to the second motor.
 9. Thesystem of claim 6, wherein the first Halbach array and the secondHalbach array comprise a rotatable cylindrical portion substantiallyconcentrically disposed within a static cylindrical portion, therotatable cylindrical portion and the static cylindrical portioncomprising a plurality of magnets.
 10. The system of claim 9, wherein inthe static cylindrical portion a direction of magnetization of eachsuccessive magnet in the plurality of magnets is rotated clockwise asthe plurality of magnets in the static cylindrical portion is traversedin clockwise direction, and wherein in the rotatable cylindrical portiona direction of magnetization of each successive magnet in the pluralityof magnets is rotated counter-clockwise as the plurality of magnets inthe static cylindrical portion is traversed in a clockwise direction.11. The system of claim 10, wherein, in an unstable configuration,magnetic fields of the plurality of magnets in the rotatable cylindricalportion and magnetic fields in the plurality of magnets in the staticcylindrical portion are oriented so that there is a repulsion betweenthe plurality of magnets of the rotatable cylindrical portion and theplurality of magnets of the static cylindrical portion.
 12. The systemof claim 9, wherein, in a stable configuration, magnetic fields of theplurality of magnets in the rotatable cylindrical portion and magneticfields in the plurality of magnets in the static cylindrical portion areoriented so that there is attraction between the plurality of magnets ofthe rotatable cylindrical portion and the plurality of magnets of thestatic cylindrical portion.
 13. The system of claim 1, furthercomprising a first controller in communication with the first rotor anda second controller in communication with the second rotor, wherein thefirst controller and the second controller use a feedforward command andfeedback signal to command the first rotor and the second rotor torotate in opposite direction with substantially a same motion profile.14. The system of claim 13, wherein the first controller is connected toa first angle sensor for detecting an angular position of the firstrotor and the second controller is connected to a second angle sensorfor detecting an angular position of the second rotor.
 15. The system ofclaim 13, wherein each of the first and second controllers includes acontrol loop for controlling the first rotor and the second rotor. 16.The system of claim 15, wherein the control loop comprises a passivetorque cancellation lookup table for providing a desired motor torque asa function of angle for the first rotor and the second rotor.
 17. Thesystem of claim 16, wherein the torque cancellation table is populatedbased on measured passive torque profile generated by each of the firstrotor and the second rotor.
 18. The system of claim 16, wherein thecancellation torque table is used to equalize a torque generated by thefirst rotor and a torque generated by the second rotor.
 19. A system formoving optical elements, comprising: a rotor; a first pulley coupled tothe rotor and a second pulley coupled to the first pulley via atransmission belt; a first plurality of paddles coupled to the firstpulley, each of the plurality of paddles comprising an apertureconfigured to receive a first optical element; a second plurality ofpaddles coupled to the second pulley, each of the plurality of paddlescomprising an aperture configured to receive a second optical element;wherein the rotor and the transmission belts are configured to move thefirst optical element between a retracted position and a desiredposition and to move the second optical element between the desiredposition and a retracted position substantially simultaneously such thata reaction torque of the first pulley cancels a reaction torque of thesecond pulley.
 20. The system of claim 19, wherein the first opticalelement, the second optical element, or both, comprise an optical lens,a prism, a grating, a polarization filter, a spectral filter, aray-blocking element, a uniform temperature black surface, or a mirror.21. The system of claim 19, wherein the rotor is mounted to a mountingstructure for mounting onto a base structure via vibration isolators forisolating the base structure from vibrations originating from the rotor.22. The system of claim 19, wherein the rotor comprises a DC motor. 23.The system of claim 19, wherein the first pulley and the second pulleyare configured as spacers so as to position the first paddles and thesecond paddles at different heights.
 24. The system of claim 19, whereinthe rotor comprises a motor coupled the first pulley.
 25. The system ofclaim 19, further comprising a Halbach array coupled the second pulley.26. The system of claim 25, wherein a torque generated by the Halbacharray is greater than a torque generated by the motor.
 27. The system ofclaim 25, wherein the Halbach array comprises a rotatable cylindricalportion substantially concentrically disposed within a staticcylindrical portion, the rotatable cylindrical portion and the staticcylindrical portion comprising a plurality of magnets.
 28. The system ofclaim 27, wherein in the static cylindrical portion, a direction ofmagnetization of each successive magnet in the plurality of magnets isrotated clockwise as the plurality of magnets in the static cylindricalportion is traversed in clockwise direction, and wherein in therotatable cylindrical portion a direction of magnetization of eachsuccessive magnet in the plurality of magnets is rotatedcounter-clockwise as the plurality of magnets in the static cylindricalportion is traversed in clockwise direction.
 29. The system of claim 28,wherein, in an unstable configuration, magnetic fields of the pluralityof magnets in the rotatable cylindrical portion and magnetic fields inthe plurality of magnets in the static cylindrical portion are orientedso that there is a repulsion between the plurality of magnets of therotatable cylindrical portion and the plurality of magnets of the staticcylindrical portion.
 30. The system of claim 29, wherein, in a stableconfiguration, magnetic fields of the plurality of magnets in therotatable cylindrical portion and magnetic fields in the plurality ofmagnets in the static cylindrical portion are oriented so that there isattraction between the plurality of magnets of the rotatable cylindricalportion and the plurality of magnets of the static cylindrical portion.31. The system of claim 19, wherein the transmission belt comprises afirst belt and second belt arranged in a “figure 8” configuration aroundthe first pulley and the second pulley.
 32. The system of claim 31,wherein one end of the first belt is attached to the first pulley andlooped around the first pulley, and an opposite end of the first belt isextended and attached to the second pulley, and wherein one end of thesecond belt is attached to the second pulley and looped around thesecond pulley, and an opposite end of the second belt is extended andattached to the first pulley.
 33. The system of claim 31, wherein thefirst belt and the second belt comprise metal.
 34. The system of claim31, wherein the transmission belt further comprises a belt tensioningfeature for adjusting a tension of the first belt and the second belt.35. The system of claim 19, further comprising a controller incommunication with the rotor, wherein the controller is configured tocommand the rotor to rotate in a desired angular and torque profile. 36.The system of claim 35, wherein the controller is connected to an anglesensor for detecting an angular position of the rotor.
 37. The system ofclaim 35, wherein the controller includes a control loop for controllingthe rotor.
 38. The system of claim 35, wherein the control loopcomprises a passive torque cancellation lookup table for providing adesired motor torque as a function of rotor angle.
 39. The system ofclaim 38, wherein the torque cancellation table is populated based onmeasured passive torque profile generated by the rotor.
 40. The systemof claim 39, wherein the cancellation torque table is used to equalize atorque generated by the first pulley and a counter-torque generated bythe second pulley.